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<div class="title">shot_lrf.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_SHOT_LRF_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_SHOT_LRF_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/shot_lrf.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">// Compute a local Reference Frame for a 3D feature; the output is stored in the &quot;rf&quot; matrix</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a9c5a9f02f4a1a8fe847a4e1656aef5ce">   49</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a9c5a9f02f4a1a8fe847a4e1656aef5ce">pcl::SHOTLocalReferenceFrameEstimation&lt;PointInT, PointOutT&gt;::getLocalRF</a> (<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; current_point_idx, Eigen::Matrix3f &amp;rf)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">const</span> Eigen::Vector4f&amp; central_point = (*input_)[current_point_idx].getVector4fMap ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  std::vector&lt;int&gt; n_indices;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  std::vector&lt;float&gt; n_sqr_distances;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  this-&gt;searchForNeighbors (current_point_idx, search_parameter_, n_indices, n_sqr_distances);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  Eigen::Matrix&lt;double, Eigen::Dynamic, 4&gt; vij (n_indices.size (), 4);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  Eigen::Matrix3d cov_m = Eigen::Matrix3d::Zero ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">double</span> distance = 0.0;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">double</span> sum = 0.0;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">int</span> valid_nn_points = 0;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_idx = 0; i_idx &lt; n_indices.size (); ++i_idx)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    Eigen::Vector4f pt = surface_-&gt;points[n_indices[i_idx]].getVector4fMap ();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">if</span> (pt.head&lt;3&gt; () == central_point.head&lt;3&gt; ())</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// Difference between current point and origin</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    vij.row (valid_nn_points).matrix () = (pt - central_point).cast&lt;double&gt; ();</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    vij (valid_nn_points, 3) = 0;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    distance = search_parameter_ - sqrt (n_sqr_distances[i_idx]);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// Multiply vij * vij&#39;</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    cov_m += distance * (vij.row (valid_nn_points).head&lt;3&gt; ().transpose () * vij.row (valid_nn_points).head&lt;3&gt; ());</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    sum += distance;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    valid_nn_points++;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (valid_nn_points &lt; 5)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">//PCL_ERROR (&quot;[pcl::%s::getLocalRF] Warning! Neighborhood has less than 5 vertexes. Aborting Local RF computation of feature point (%lf, %lf, %lf)\n&quot;, &quot;SHOTLocalReferenceFrameEstimation&quot;, central_point[0], central_point[1], central_point[2]);</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    rf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  cov_m /= sum;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  Eigen::SelfAdjointEigenSolver&lt;Eigen::Matrix3d&gt; solver (cov_m);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; e1c = solver.eigenvalues ()[0];</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a9c5a9f02f4a1a8fe847a4e1656aef5ce">   98</a></span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; e2c = solver.eigenvalues ()[1];</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; e3c = solver.eigenvalues ()[2];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (!pcl_isfinite (e1c) || !pcl_isfinite (e2c) || !pcl_isfinite (e3c))</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">//PCL_ERROR (&quot;[pcl::%s::getLocalRF] Warning! Eigenvectors are NaN. Aborting Local RF computation of feature point (%lf, %lf, %lf)\n&quot;, &quot;SHOTLocalReferenceFrameEstimation&quot;, central_point[0], central_point[1], central_point[2]);</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a39fc67a20432d180e2674bb860710b28">  104</a></span>&#160;    rf.setConstant (std::numeric_limits&lt;float&gt;::quiet_NaN ());</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">return</span> (std::numeric_limits&lt;float&gt;::max ());</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">// Disambiguation</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  Eigen::Vector4d v1 = Eigen::Vector4d::Zero ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  Eigen::Vector4d v3 = Eigen::Vector4d::Zero ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  v1.head&lt;3&gt; ().matrix () = solver.eigenvectors ().col (2);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  v3.head&lt;3&gt; ().matrix () = solver.eigenvectors ().col (0);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">int</span> plusNormal = 0, plusTangentDirection1=0;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ne = 0; ne &lt; valid_nn_points; ne++)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordtype">double</span> dp = vij.row (ne).dot (v1);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">if</span> (dp &gt;= 0)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      plusTangentDirection1++;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    dp = vij.row (ne).dot (v3);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">if</span> (dp &gt;= 0)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      plusNormal++;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="comment">//TANGENT</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  plusTangentDirection1 = 2*plusTangentDirection1 - valid_nn_points;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">if</span> (plusTangentDirection1 == 0)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordtype">int</span> points = 5; <span class="comment">//std::min(valid_nn_points*2/2+1, 11);</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordtype">int</span> medianIndex = valid_nn_points/2;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = -points/2; i &lt;= points/2; i++)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            <span class="keywordflow">if</span> ( vij.row (medianIndex - i).dot (v1) &gt; 0)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                plusTangentDirection1 ++;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordflow">if</span> (plusTangentDirection1 &lt; points/2+1)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            v1 *= - 1;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    } </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plusTangentDirection1 &lt; 0)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    v1 *= - 1;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="comment">//Normal</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  plusNormal = 2*plusNormal - valid_nn_points;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">if</span> (plusNormal == 0)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordtype">int</span> points = 5; <span class="comment">//std::min(valid_nn_points*2/2+1, 11);</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">int</span> medianIndex = valid_nn_points/2;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = -points/2; i &lt;= points/2; i++)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            <span class="keywordflow">if</span> ( vij.row (medianIndex - i).dot (v3) &gt; 0)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                plusNormal ++;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordflow">if</span> (plusNormal &lt; points/2+1)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            v3 *= - 1;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (plusNormal &lt; 0)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    v3 *= - 1;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  rf.row (0).matrix () = v1.head&lt;3&gt; ().cast&lt;float&gt; ();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  rf.row (2).matrix () = v3.head&lt;3&gt; ().cast&lt;float&gt; ();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  rf.row (1).matrix () = rf.row (2).cross (rf.row (0));</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordflow">return</span> (0.0f);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a39fc67a20432d180e2674bb860710b28">  169</a></span>&#160;<a class="code" href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a39fc67a20432d180e2674bb860710b28">pcl::SHOTLocalReferenceFrameEstimation&lt;PointInT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;{</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="comment">//check whether used with search radius or search k-neighbors</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">if</span> (this-&gt;getKSearch () != 0)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    PCL_ERROR(</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="stringliteral">&quot;[pcl::%s::computeFeature] Error! Search method set to k-neighborhood. Call setKSearch(0) and setRadiusSearch( radius ) to use this class.\n&quot;</span>,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      getClassName().c_str ());</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  tree_-&gt;setSortedResults (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// point result</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    Eigen::Matrix3f rf;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    PointOutT&amp; output_rf = output[i];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="comment">//output_rf.confidence = getLocalRF ((*indices_)[i], rf);</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">//if (output_rf.confidence == std::numeric_limits&lt;float&gt;::max ())</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordflow">if</span> (getLocalRF ((*indices_)[i], rf) == std::numeric_limits&lt;float&gt;::max ())</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; 3; ++d)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      output_rf.x_axis[d] = rf.row (0)[d];</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      output_rf.y_axis[d] = rf.row (1)[d];</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      output_rf.z_axis[d] = rf.row (2)[d];</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SHOTLocalReferenceFrameEstimation(T,OutT) template class PCL_EXPORTS pcl::SHOTLocalReferenceFrameEstimation&lt;T,OutT&gt;;</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FEATURES_IMPL_SHOT_LRF_H_</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_local_reference_frame_estimation_html_a39fc67a20432d180e2674bb860710b28"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a39fc67a20432d180e2674bb860710b28">pcl::SHOTLocalReferenceFrameEstimation::computeFeature</a></div><div class="ttdeci">virtual void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Feature estimation method.</div><div class="ttdef"><b>Definition:</b> shot_lrf.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_local_reference_frame_estimation_html_a9c5a9f02f4a1a8fe847a4e1656aef5ce"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_local_reference_frame_estimation.html#a9c5a9f02f4a1a8fe847a4e1656aef5ce">pcl::SHOTLocalReferenceFrameEstimation::getLocalRF</a></div><div class="ttdeci">float getLocalRF(const int &amp;index, Eigen::Matrix3f &amp;rf)</div><div class="ttdoc">Computes disambiguated local RF for a point index</div><div class="ttdef"><b>Definition:</b> shot_lrf.hpp:49</div></div>
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